| Cylindrical cam continuous transmission mechanism that joins in the intermediate cylindrical roller cylindrical between the cylindrical cam and driven plate is a new type of slowdown mechanism with rolling instead of sliding.It can transfer movement between the two space vertical staggered shaft.It has the advantages of large transmission ratio,smooth transmission,high bearing capacity,high efficiency and so on.At present,the research on the mechanism is mainly focused on the structural design,contact characteristics and profile modification design.With the requirement of high speed and high precision for automatic machine,both here and abroad is gradually paid attention to the dynamic problem of transmission mechanism.It is necessary to study the dynamics of the mechanism,because the dynamic performance of the mechanism has a direct influence on the transmission accuracy.In this paper,in order to improve the transmission accuracy and stability of the cylindrical cam transmission system,studied the dynamic performance of the system from the point of view of electromechanical coupling system.The main research contents are as follows:First,designed the structural parameters of the cylindrical cam transmission mechanism.According to the principle of meshing transmission mechanism,based on conjugate surface principle and rigid body kinematics theory to deduced the contour equation of cylindrical cam.And completed the three-dimensional modeling of the cylindrical cam transmission mechanism based on MATLAB software and Solidworks software.At the same time,established the virtual prototype model of the mechanism and carried on the movement simulation analysis to verify the correctness of the mechanism design based on the ADAMS software.Second,analyzed the dynamic characteristics of cylindrical cam continuous drive system based on the dynamic theory.Established the dynamic characteristic equation of permanent magnet synchronous motor dq axis decoupling,analyzed synthetically the dynamic characteristics of electromechanical transmission system,and established the dynamic model of electromechanical coupling torsion and the mechanical dynamics equation.At the same time simultaneous permanent magnet synchronous motor dynamic equations to obtain the mathematical model of electromechanical system,in order to reveal the mechanism of electromechanical coupling.Solved the electromechanical coupling dynamic equation to obtain the dynamic response curve of the electromechanical transmission system.Third,the electromechanical coupling dynamic characteristics of the system are studied based on the electromechanical co simulation technology.Established cylindrical cam continuous transmission mechanism of rigid flexible coupling model.Determined the input and output variables of the joint simulation mechanical subsystem to establish the simulation model of the controlled system.At the same time,the simulation model of PMSM Vector Control Based on PI control is built in Matlab/Simulink environment.Combined machine and electric simulation model to realize the dynamic simulation of electromechanical transmission system.The simulation results show that the dynamic performance of the drive system after PI control is improved obviously,and verified the correctness of the kinetic theory analysis model and the joint simulation model.And analyzed and summarized the dynamic response of cylindrical cam continuous drive system under different speed and load. |
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